Redundant actuation system of an underwater vehicle

This paper addresses the question of redundancy management of a vectorial actuation system of an underwater robot. The approach focuses on the compensation of the actuators structural imperfections: dead-zone and motor's response disparity. The solution is based on the identification of a corre...

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Bibliographic Details
Published in:Ocean engineering 2018-03, Vol.151, p.276-289
Main Authors: Ropars, B., Lapierre, L., Lasbouygues, A., Andreu, D., Zapata, R.
Format: Article
Language:English
Subjects:
Computer Science
Redundancy
Robotics
Underwater
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Summary:This paper addresses the question of redundancy management of a vectorial actuation system of an underwater robot. The approach focuses on the compensation of the actuators structural imperfections: dead-zone and motor's response disparity. The solution is based on the identification of a correction matrix which highly improves the open-loop response of the actuation system. The effect is formally shown in the linear case approximation. Experimental validation shows the performance of the solution. •Management of redundancy of a vectorial actuation system of an underwater robot.•Compensation of actuator's structural imperfections: dead-zone, characteristic disparities.•Formal validation of the approach in the linear case.•Experimental validation.
ISSN:0029-8018
1873-5258
DOI:10.1016/j.oceaneng.2017.12.025